High bit-rate magnetic communication

ABSTRACT

A magnetic communications transmitter includes a magnetic field generator and a controller. The magnetic field generator is configured to generate a magnetic field. The controller is configured to control the magnetic field generator by controlling an electrical current supplied to the magnetic field generator, and causing the magnetic field generator to generate an optimized variable amplitude triangular waveform.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority under 35 U.S.C. §119 from U.S. Provisional Patent Application 61/976,009, filed Apr. 7, 2014, which is incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention generally relates to communications and, more particularly, to high bit-rate magnetic communication.

BACKGROUND

As radio-frequency (RF) and optical electromagnetic signals do not propagate well under the ocean surface or through land, alternative communication methods are to be used for these environments. There are multiple alternative options, each having advantages and disadvantages. Therefore, different approaches may be taken depending on applications. For example, some applications may use a tether to communicate by wire or optical fiber, which can impose maneuvering limits or hazards involving physical contact with vehicles or structures. As another example, acoustic communications are often used, but are affected by multipath and shallow-water resonances, with the consequence that robust acoustic communications have a very low bit rate. Yet, another candidate can be near-field magnetic communications, which works with low-frequency signals, to be measurable at longer ranges thereby limiting bit rate, and signals which have a rapid drop off in signal strength at longer ranges.

Traditional modulation schemes used in magnetic communications have a low bit-rate for a given range. If the bit rate could be increased substantially, a variety of applications could benefit from these traditional modulation schemes. For example, one motivating application is the use of unmanned underwater vehicles (UUV) for sensing tasks underwater, such as oil rig inspection or sea-floor pipeline, or well-head inspection. Currently, most data is stored until the vehicle surfaces, meaning that operators have little awareness of how the mission is proceeding and little ability to influence its course, such as re-inspecting an area of interest, or recognizing that the UUV has incorrectly identified a rock as a well head. Another motivating example is a stationary sensor on the ocean floor, which needs to send data to the surface or to a passing underwater vehicle when the opportunity arises.

SUMMARY

In some aspects, a magnetic communications transmitter includes a magnetic fief generator and a controller. The magnetic field generator is configured to generate a magnetic field. The controller is configured to control the magnetic field generator by controlling an electrical current supplied to the magnetic field generator, and causing the magnetic field generator to generate an optimized variable amplitude triangular waveform.

In another aspect, a magnetic communications receiver includes a magnetic field sensor and a signal processor. The magnetic field sensor is configured to sense a modulated magnetic field. The signal processor is configured to demodulate the sensed modulated magnetic field. The modulated magnetic field comprises an optimized variable amplitude triangular waveform.

In yet another aspect, a method for facilitating magnetic communications includes providing a magnetic field generator that is configured to generate a magnetic field. A controller is provided that is configured to control the magnetic field generator by controlling an electrical current supplied to the magnetic field generator, and causing the magnetic field generator to generate an optimized variable amplitude triangular waveform.

The foregoing has outlined rather broadly the features of the present disclosure in order that the detailed description that follows can be better understood. Additional features and advantages of the disclosure will be described hereinafter, which form the subject of the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of the present disclosure, and the advantages thereof, reference is now made to the following descriptions to be taken in conjunction with the accompanying drawings describing specific embodiments of the disclosure, wherein:

FIGS. 1A-1B are diagrams illustrating examples of a high-level architecture of a magnetic communication transmitter and a schematic of a circuit of a controller, according to certain embodiments;

FIGS. 2A-2B are diagrams illustrating examples of a high-level architecture of a magnetic communication receiver and a set of amplitude modulated waveforms, according to certain embodiments;

FIG. 3 is a diagram illustrating an example of a method for providing a magnetic communication transmitter, according to certain embodiments;

FIG. 4 is a diagram illustrating an example of a data frame of a magnetic communication transmitter, according to certain embodiments;

FIG. 5 is a diagram illustrating an example of motion compensation scheme, according to certain embodiments;

FIGS. 6A-6B are diagrams illustrating examples of throughput results with turning, rolling and tow-frequency compensation, according to certain embodiments;

FIG. 7 is a diagram illustrating an example adaptive modulation scheme, according to certain embodiments;

FIGS. 8A through 8C are diagrams illustrating components for implementing an example technique for multiple channel resolution, according to certain embodiments;

FIGS. 9A-9B are diagrams illustrating single channel throughput variations versus transmitter-receiver distance, according to certain embodiments;

FIGS. 10A-10B are diagrams illustrating simulated performance results, according to certain embodiments; and

FIG. 11 is a diagram illustrating an example of a system 1100 for implementing some aspects of the subject technology.

DETAILED DESCRIPTION

The detailed description set forth below is intended as a description of various configurations of the subject technology and is not intended to represent the only configurations in which the subject technology may be practiced. The appended drawings are incorporated herein and constitute a part of the detailed description. The detailed description includes specific details for the purpose of providing a thorough understanding of the subject technology. However, it will be clear and apparent to those skilled in the art that the subject technology is not limited to the specific details set forth herein and may be practiced without these specific details. In some instances, well-known structures and components are shown in block diagram form in order to avoid obscuring the concepts of the subject technology.

The present disclosure is directed, in part, to a high bit-rate magnetic communications transmitter that is capable of transmitting magnetic field waves with an optimized waveform. The optimized waveform includes an amplitude modulated triangular waveform. The disclosure is also directed to a high bit-rate magnetic communications receiver including a magnetic sensor, such as diamond nitrogen-vacancy (DNV) sensor, and a signal processor that can demodulate the amplitude modulated triangular waveform. In some implementations, the receiver of the subject technology is enabled to perform motion compensation, for example, compensation for rotations in Earth's magnetic field. The subject technology achieves a significantly higher bit-rate than other magnetic communications approaches by leveraging the high sensitivity and small form factor of the DNV sensors and utilizing modern signal processing that has made amplitude-dependent coherent modulation a practical reality for high bit rates. Other advantageous features of the disclosed solution include optimized waveform for the magnetic scenario, magnetic-specific error removal, and an optional adaptation scheme and polarity scheme.

FIGS. 1A-1B are diagrams illustrating examples of a high-level architecture of a magnetic communication transmitter 100A and a schematic of a circuit 100B of a controller, according to certain embodiments. It is understood that he nearly-universal method of creating a variable magnetic field is by passing current through a coil of wire. The magnetic communication transmitter (hereinafter “transmitter”) 100A includes a magnetic field generator 110 and a controller 120. The magnetic field generator 100 includes a magnetic coil and generates a magnetic field, which is proportional to an electrical current (hereinafter “current”) passing through the coil. The controller 120 controls the current provided to the magnetic field generator and can cause the magnetic field generator to generate an optimized waveform.

Electrically, the coil is an inductor with some loss that can be modeled as a series resistance. The series resistance may place the following constraints on the design. First, the rate of change of the magnetic field has an upper bound corresponding to the maximum voltage available in drive circuit of the coil, because the derivative of the current is proportional to the voltage across the inductor. This also implies that the magnetic field and current are continuous functions. The optimized waveform is considered to be a waveform that when received and processed by the receiver can result in a desirable signal-to-noise ratio.

It is understood that the desirable signal-to-noise ratio can be achieved when the modulation signal has the largest L2 norm (e.g., the differences between the signals for different symbol values have the largest L2 norm), and with a rate limited signal. The rate limited signal has a waveform that, in the maximum amplitude case, has a ramp-up derivative equal to a maximum positive derivative, and a ramp-down derivative equal to the maximum negative derivative. Therefore, the subject technology uses, as a basis function, a triangle wave with an optional sustain. The triangular waveform ramps up, can sustain at its peak value, then ramps down. With no sustain, triangular waveform is a ramp-up and ramp-down, and for a given fixed symbol interval and given the rate limit, that would be a desirable waveform. If, however, there is also some reason to impose an inductor current limit that would be exceeded by a maximum ramp-up of the current for half the duration of the symbol interval, then the ramp up would be stopped at the current level and the magnitude would be sustained, and then ramped down proceeds at the maximum rate to zero. To be able to start each successive symbol transmission at the same starting point regardless of the value of the successive symbols, each symbol must start with the same magnetic field strength and must end with that same field strength (e.g., for the required continuity).

The controller 120 is responsible for providing the current to the magnetic coil of the magnetic field generator 110 such that the generated magnetic field has the optimized triangular waveform. In some embodiments, the controller includes the circuit 100B, the schematic of which is shown in FIG. 1B. The circuit 100B includes switches (e.g., transistors such as bipolar or other transistor type or other switches) T1 and T2, diodes D1 and D2, an inductor L, capacitors C1 and C2. The inductor L is the magnetic coil of the magnetic field generator 110. A current i of the inductor L of the magnetic coil is controlled by the transistors T1 and T2. The capacitor C1 is precharged to +Vp voltage, as shown in FIG. 1B. The circuit 100B can be operated in four phases.

In a first phase, when the transistor T1 is on and transistor T2 is off, the capacitor C1 is discharged through the transistor T1 (e.g., an NPN transistor) and the inductor L, which provides an increasing positive current i through the inductor L. In a second phase, the transistors T1 and T2 are off, the capacitor C2 is charged through the diode D2 and the inductor L, which provides a decreasing positive current i through the inductor L In a third phase, the transistor T1 is off and the transistor T2 is on, the capacitor C2 is discharged through the transistor T2 and the inductor L, which provides a decreasing negative current i through the inductor L. Finally, in a fourth phase, both transistors T1 and T2 are off and the capacitor C1 is charged through the diode D1 and the inductor L, which provides an increasing negative current i through the inductor L.

More detailed discussion of circuit 100B and other implementations of the controller 120 can be found in a separate patent application entitled “Energy Efficient Magnetic Field Generator Circuits,” by the applicants of the present patent application, filed on the same date with the present patent application.

FIGS. 2A-2B are diagrams illustrating examples of a high-level architecture of a magnetic communication receiver 200A and a set of amplitude modulated waveforms 200B, according to certain embodiments. The magnetic communication receiver (hereinafter “receiver”) 200A includes a magnetic field sensor 210 and a signal processor 220. The magnetic field sensor 210 is configured to sense a magnetic field and generate a signal (e.g., an optical signal or an electrical signal such as a current or voltage signal) proportional to the sensed magnetic field. In one or more implementations, the magnetic field sensor 210 may include a DNV sensor.

Atomic-sized nitrogen-vacancy (NV) centers in diamond lattices have been shown to have excellent sensitivity for magnetic field measurement and enable fabrication of small (e.g., micro-level) magnetic sensors that can readily replace existing-technology (e.g., Hall-effect) systems and devices. The DNV sensors are maintained in room temperature and atmospheric pressure and can be even used in liquid environments. A green optical source (e.g., a micro-LED) can optically excite NV centers of the DNV sensor and cause emission of fluorescence radiation (e.g., red light) under off-resonant optical excitation. A magnetic field generated, for example, by a microwave coil can probe degenerate triplet spin states (e.g., with m_(s)=−1, 0, +1) of the NV centers to split proportional to an external magnetic field projected along the NV axis, resulting in two spin resonance frequencies. The distance between the two spin resonance frequencies is a measure of the strength of the external magnetic field. A photo detector can measure the fluorescence (red light) emitted by the optically excited NV centers and generate an electrical signal.

The signal processor 220 may include a general processor or a dedicated processor (e.g., a microcontroller). The signal processor 220 includes logic circuits or other circuitry and codes configured to implement coherent demodulation of a high-bit rate amplitude modulated signals, such as a high-bit rate amplitude modulated triangular waveform. An example of an amplitude modulated triangular waveform is shown in FIG. 2B. The amplitude modulated triangular waveform 200B of FIG. 2B includes a high-amplitude (e.g., full-amplitude) positive triangular waveform 232, a low-amplitude positive triangular waveform 234, a tow-amplitude negative triangular waveform 236, and high-amplitude negative triangular waveform 238. These waveforms are desirable for representing various symbols of a 2-bit representation of data. For example, the waveforms 232, 234, 236, and 238 can be used to represent 11, 10, 01, and 00 symbols of the 2-bit representation of data. The waveforms 232, 234, 236, and 238 can provide an optimized signal-to-noise ratio (SNR), and due to their continuity, can be readily generated by using a practical voltage supply, as shown for example, by the circuit 100B of FIG. 1B. The amplitude of the waveforms 232, 234, 236, and 238 are selected to make the spacing between the subsequent symbols as large as possible by the L2 metric. For example, a partial amplitude waveform (e.g., 234 or 236) may be chosen to have an amplitude that is ⅓ of the amplitude of a high-amplitude waveform (e.g., 232 or 238).

FIG. 3 is a diagram illustrating an example of a method 300 for providing a magnetic communication transmitter, according to certain embodiments. The method 300 includes providing a magnetic field generator (e.g. 110 of FIG. 1A) configured to generate a magnetic field (310). A controller (e.g. 120 of FIG. 1A) is provided that is configured to control the magnetic field generator by controlling an electrical current (e.g. i of FIG. 1B) supplied to the magnetic field generator and causing the magnetic field generator to generate an optimized variable amplitude triangular waveform (e.g. 200B of FIG. 2B) (320).

FIG. 4 is a diagram illustrating an example of a data frame 400 of a magnetic communication transmitter, according to certain embodiments. The data frame 400 includes data portions 402 and 404 and one or more auxiliary portions. The data portions 402 and 404 include data symbols, for example, 11, 00, 10, and 01 symbols. The auxiliary portions include MAX and OFF symbols 410 and 420. In one or more implementations, the MAX symbol 410 can be a 11 symbol, and the OFF symbol 420 may represent a no symbol interval, which provides an opportunity for synchronization and background field measurement and removal, as explained in more details herein. The calibration and background field removal are critical aspects of the subject technology. The MAX symbol 410 is used to enable the receiver to perform synchronization and calibration of the received signal. The calibration, for example, can correct for the rotation of the sensor relative to the Earth's magnetic dipole, which results in some change in the background signal.

FIG. 5 is a diagram illustrating an example of motion compensation scheme 500, according to certain embodiments. Motion compensation is an important aspect of the subject disclosure, as the Earth's magnetic field is a significant part of the background noise in any magnetic field sensing. If the sensor is moving (e.g., rotating) relative to the Earth's magnetic field vector, the measured signal (e.g., 510 corresponding to a rotation rate of o.1 rad/s) can significantly deviate from the measured magnetic signal without rotation (e.g., 520). The subject technology allows for measurement and subtraction of this time varying background while the magnetic signal is analyzed. The OFF symbol intervals 420, 422, and 424 can be used for measurement of the background noise. As seen from FIG. 5, the value of the measured signal 510 at OFF symbol intervals 420, 422, and 424 are substantially different from the respective values of the measured signal 520 (e.g., without rotation). These differences at different OFF symbol intervals can be fitted to linear or spline curves and be used to calibrate the signal for motion compensation, for example, by subtraction of the measured background noise from the actual measured signal.

FIGS. 6A-6B are diagrams illustrating examples of throughput results with turning, rolling and tow-frequency compensation, according to certain embodiments. In the diagram 600A of FIG. 6A, plot 610 corresponds to no rotation compensation that results is undesirably low throughput values (in kbits/sec), which rapidly turn to zero as the transmitter-to-receiver distance is increased to nearly 200 meters. Plots 620 and 630 correspond to turning of the sensor at 0.1 rad/sec, where measure data are compensated for the motion (e.g., as described above) using linear and spline compensations, respectively. The spline compensation is seen to completely remove rotation effects on bit rate. Not shown here for simplicity, are the removal of all effects of low frequency (e.g., <0.1 Hz) environmental noise and low frequency self-noise (e.g., <5 Hz). In some implementations, the 60 cycle hum and its 120 Hz harmonic can be removed by using notch filters.

In the diagram 600B of FIG. 6B, plots 612, 622, and 632 are for similar circumstances as plots 610, 620, and 630 of FIG. 6A, except that the sensor motion is rolling at a higher rate (e.g., 0.3 rad/sec). The spline compensation is seen to be more effective in removing the effects of rolling on bit rate than the linear compensation.

FIG. 7 is a diagram illustrating an example adaptive modulation scheme 700, according to certain embodiments. The adaptive modulation scheme 700 uses an adaptive modulation technique, which is different form the commonly used techniques in other communication media such as RF communication. The subject technology uses period extension to perform adaptive modulation. It is understood that as the performance is degraded due to noise (e.g., SNR is decreased), discriminating various levels 720 denoted by symbols 00, 01, 10, and 11 can be difficult. In other words, the correlation of the measured points 715 with the basis function 710 (e.g., a triangular waveform) may not match one of the expected values (e.g., denoted by symbols 00, 01, 10, and 11). When mismatches are too large relative to amplitude spacings, the receiver can signal for either fewer amplitude levels (e.g., lower performance such as two-level resolution) or longer symbol intervals (e.g., lower bit rate). Conversely, when the mismatches are small, the amplitude levels can be increased (e.g., better resolution performance) or the symbol intervals can be decreased (e.g., higher bit rate). The adaptive modulation may, for example, be implemented by extending the symbol period as shown by the symbol (e.g., basis function) 730, which has an extended period as compared to the basis function 710.

FIGS. 8A through 8C are diagrams illustrating components for implementing an example technique for multiple channel resolution, according to certain embodiments. The use of DNV sensors for the receivers of the subject technology allows simultaneous receiving of multiple channel (e.g., up to three) channels transmitted by three different transmitters that are synchronous and cooperative in time, but transmit with different magnetic field (B) orientations. This enables up to three times higher performance of a single channel alone. The magnetic fields of the three transmitters in the coordinate system 800A of FIG. 8A, where magnetic vectors 810, 820, and 830 correspond to the fields transmitted by the three transmitters, which form the resultant combined vector 850.

The subject technology uses frame formatting to support the multiple channels scheme. For example, MAX symbols (e.g., 812, 814, and 816) of a data frame 800B of FIG. 8B are used to indicate which of the three transmitters is transmitting. For instance, the MAX symbol 812 indicates that first transmitter is transmitting and the all other transmitters are off. Similarly, MAX symbols 814 and 816 indicate that one of the second or the third transmitters is transmitting, respectively. This information assists the receiver to estimate the corresponding magnetic field (e.g., B_(i)) vector of the transmitting transmitter (e.g. the i_(th) transmitter). To resolve a magnetic field B into individual channels, as shown in a matrix equation 8C of FIG, 8C, the basis matrix C+ transforms the measurements from the {X,Y,Z} basis into the {B1,B2, B3} basis. The full performance can be achieved when the matrix C+ has full rank, which happens when all transmitter B fields are mutually orthogonal. In case the B fields are highly co-linear, C+ matrix may become singular and magnify any noise present, thereby degrading the performance. The elements of the C+ matrix are projections of the measured magnetic field of each transmitter B_(i) fields over the X, Y, and Y axes. For example, B_(i,y) is the projection of the measured B_(i) fields over the Y axis, and B_(i,x), B_(i,y), and B_(i,z) define the angle of arrival of the i_(th) transmitter. The angle of arrival of each transmitter is a vector that is in the direction of the polarization of the B-field vector for that transmitter. The elements of the channels vector give the channel data that each transmitter has actually transmitted.

FIGS. 9A-9B are diagrams illustrating single channel throughput variations 900A and 900B versus transmitter-receiver distance, according to certain embodiments. The plots 900A and 900B shown in FIGS. 9A and 9B are single channel (e.g., with no orthogonal frequency division multiplexing (OFDM) and no 3D-vector multiplexing) simulation results in open air for bit-error rates less than approximately one percent, using existing DNV detectors. The period of the triangular waveform is allowed to vary from 60 to 500 microseconds. The plot 900B shown in FIG. 9B is a zoom-in of the plot 900A in FIG. 9A for closer look.

FIGS. 10A-10B are diagrams illustrating simulated performance results 1001A and 1000B, according to certain embodiments. The simulated performance results 1000A and 1000B are 2-dimensional plots showing single channel throughput results (in Kbps) as the DNV sensor quantization level and transmitter magnetic field B (in Tesla at 1 meter) are varied. The results 1000A and 1000B are, respectively, for 100 m and 500 meter distance between the receiver and the transmitter. The quantization levels define the resolution of the DNV sensors.

FIG. 11 is a diagram illustrating an example of a system 1100 for implementing some aspects of the subject technology. The system 1100 includes a processing system 1102, which may include one or more processors or one or more processing systems. A processor can be one or more processors. The processing system 1102 may include a general-purpose processor or a specific-purpose processor for executing instructions and may further include a machine-readable medium 1119, such as a volatile or non-volatile memory, for storing data and/or instructions for software programs. The instructions, which may be stored in a machine-readable medium 1110 and/or 1119, may be executed by the processing system 1102 to control and manage access to the various networks, as well as provide other communication and processing functions. The instructions may also include instructions executed by the processing system 1102 for various user interface devices, such as a display 1112 and a keypad 1114. The processing system 1102 may include an input port 1122 and an output port 1124. Each of the input port 1122 and the output port 1124 may include one or more ports. The input port 1122 and the output port 1124 may be the same port (e.g., a bi-directional port) or may be different ports.

The processing system 1102 may be implemented using software, hardware, or a combination of both. By way of example, the processing system 1102 may be implemented with one or more processors. A processor may be a general-purpose microprocessor, a microcontroller, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a state machine, gated logic, discrete hardware components, or any other suitable device that can perform calculations or other manipulations of information.

In one or more implementations, the transformation means (e.g., algorithms) and the signal processing of the subject technology may be performed by the processing system 1102. For example, the processing system 1102 may perform the functionality of the signal processor 220 of FIG. 2A or perform the matrix operation 800C of FIG. 8C, or other or computational functions and simulations described above.

A machine-readable medium can be one or more machine-readable media. Software shall be construed broadly to mean instructions, data, or any combination thereof, whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise. Instructions may include code (e.g., in source code format, binary code format, executable code format, or any other suitable format of code).

Machine-readable media (e.g., 1119) may include storage integrated into a processing system such as might be the case with an ASIC. Machine-readable media (e.g., 1110) may also include storage external to a processing system, such as a Random Access Memory (RAM), a flash memory, a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable PROM (EPROM), registers, a hard disk, a removable disk, a CD-ROM, a DVD, or any other suitable storage device. Those skilled in the art recognizes how best to implement the described functionality for the processing system 1102. According to one aspect of the disclosure, a machine-readable medium is a computer-readable medium encoded or stored with instructions and is a computing element, which defines structural and functional interrelationships between the instructions and the rest of the system, which permit the instructions' functionality to be realized. Instructions may be executable, for example, by the processing system 1102 or one or more processors. Instructions can be, for example, a computer program including code for performing methods of the subject technology.

A network interface 1116 may be any type of interface to a network (e.g., an Internet network interface), and may reside between any of the components shown in FIG. 11 and coupled to the processor via the bus 1104.

A device interface 1118 may be any type of interface to a device and may reside between any of the components shown in FIG. 11. A device interface 1118 may, for example, be an interface to an external device that plugs into a port (e.g., USB port) of the system 1100.

The foregoing description is provided to enable a person skilled in the art to practice the various configurations described herein. While the subject technology has been particularly described with reference to the various figures and configurations, it should be understood that these are for illustration purposes only and should not be taken as limiting the scope of the subject technology.

One or more of the above-described features and applications may be implemented as software processes that are specified as a set of instructions recorded on a computer readable storage medium (alternatively referred to as computer-readable media, machine-readable media, or machine-readable storage media). When these instructions are executed by one or more processing unit(s) (e.g., one or more processors, cores of processors, or other processing units), they cause the processing unit(s) to perform the actions indicated in the instructions. In one or more implementations, the computer readable media does not include carrier waves and electronic signals passing wirelessly or over wired connections, or any other ephemeral signals. For example, the computer readable media may be entirely restricted to tangible, physical objects that store information in a form that is readable by a computer. In one or more implementations, the computer readable media is non-transitory computer readable media, computer readable storage media, or non-transitory computer readable storage media.

In one or more implementations, a computer program product (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, object, or other unit suitable for use in a computing environment. A computer program may, but need not, correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub programs, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

While the above discussion primarily refers to microprocessor or multi-core processors that execute software, one or more implementations are performed by one or more integrated circuits, such as application specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs). In one or more implementations, such integrated circuits execute instructions that are stored on the circuit itself.

Although the invention has been described with reference to the disclosed embodiments, one having ordinary skill in the art will readily appreciate that these embodiments are only illustrative of the invention. It should be understood that various modifications can be made without departing from the spirit of the invention. The particular embodiments disclosed above are illustrative only, as the present invention may be modified and practiced in different but equivalent manners apparent to those skilled in the art having the benefit of the teachings herein. Furthermore, no limitations are intended to the details of construction or design herein shown, other than as described in the claims below. It is therefore evident that the particular illustrative embodiments disclosed above may be altered, combined, or modified and all such variations are considered within the scope and spirit of the present invention. While compositions and methods are described in terms of “comprising,” “containing,” or “including” various components or steps, the compositions and methods can also “consist essentially of” or “consist of” the various components and operations. All numbers and ranges disclosed above can vary by some amount Whenever a numerical range with a lower limit and an upper limit is disclosed, any number and any subrange falling within the broader range is specifically disclosed. Also, the terms in the claims have their plain, ordinary meaning unless otherwise explicitly and clearly defined by the patentee. If there is any conflict in the usages of a word or term in this specification and one or more patent or other documents that may be incorporated herein by reference, the definitions that are consistent with this specification should be adopted. 

What is claimed is the following:
 1. A magnetic communications transmitter, the transmitter comprising: a magnetic field generator configured to generate a magnetic field; and a controller configured to control the magnetic field generator, wherein: controlling the magnetic field generator comprises: controlling an electrical current supplied to the magnetic field generator, and causing the magnetic field generator to generate an optimized variable amplitude triangular waveform.
 2. The transmitter of claim 1, wherein the optimized triangular waveform comprises a coherent amplitude modulated triangular waveform.
 3. The transmitter of claim 1, wherein the transmitter is configured to transmit magnetic data packets, wherein each magnetic data packet comprises data portions and auxiliary portions.
 4. The transmitter of claim 3, wherein the data potions comprises data symbols comprising amplitude modulated triangular waveforms, wherein the auxiliary portions comprise MAX and OFF symbols.
 5. The transmitter of claim 4, wherein the transmitter is configured to transmit, during MAX symbols, a highest magnetic data symbol, to enable synchronization and calibration of a received signal at a receiver.
 6. The transmitter of claim 4 wherein the transmitter is configured to transmit, during the OFF symbols, no data symbol to allow synchronization and background measurement at a receiver, wherein the background measurement enables the receiver to perform motion compensation, and wherein the motion compensation includes compensation for rotations in Earth's magnetic field.
 7. The transmitter of claim 1, wherein the transmitter is configured to enable simultaneous multiple channel communication.
 8. The transmitter of claim 7, wherein the simultaneous multiple channel communication is enabled by encoding active transmitting channel information in MAX symbols of transmitted magnetic data packets.
 9. A magnetic communications receiver, the receiver comprising: a magnetic field sensor configured to sense a modulated magnetic field; and a signal processor configured to demodulate the sensed modulated magnetic field, wherein: the modulated magnetic field comprises an optimized variable amplitude triangular waveform.
 10. The receiver of claim 9, wherein magnetic field sensor comprises a diamond nitrogen-vacancy (DNV) sensor.
 11. The receiver of claim 9, wherein the receiver is configured to decode magnetic data packets including magnetic data symbols, OFF symbols, and MAX symbols, and wherein the signal processor is configured to demodulate the magnetic data symbol including coherent amplitude modulated triangular waveform.
 12. The receiver of claim 11, wherein the receiver is configured to measure background during OFF symbols, wherein the receiver is configured to leverage the background measurement to compensate for rotations in Earth's magnetic field.
 13. The receiver of claim 9, wherein the receiver is configured to perform synchronization and calibration during MAX symbols.
 14. The receiver of claim 9, wherein the receiver is configured to retrieve data from simultaneous multiple channel communication.
 15. The receiver of claim 14, wherein the receiver is configured to decode active transmitting channel information of multiple channel communication using information in MAX symbols of transmitted magnetic data packets.
 16. A method for facilitating magnetic communications, the method comprising: providing a magnetic field generator configured to generate a magnetic field; and providing a controller configured to control the magnetic field generator, wherein: the controller is configured to: control an electrical current supplied to the magnetic field generator, and cause the magnetic field generator to generate an optimized variable amplitude triangular waveform.
 17. The method of claim 16, wherein the optimized variable amplitude triangular waveform comprise magnetic data symbols, wherein the magnetic data symbols are included in magnetic data packets further including MAX and OFF symbols.
 18. The method of claim 17, further comprising transmitting, during the MAX symbols, a highest magnetic data symbol, to enable synchronization and calibration of a received signal at a receiver.
 19. The method of claim 17, further comprising: during the MAX symbols, transmitting a highest magnetic data symbol, to enable synchronization and calibration of a received signal at a receiver; and during the OFF symbols, transmitting no data symbol to allow synchronization and background measurement at a receiver, wherein the background measurement enables the receiver to perform motion compensation, and wherein the motion compensation includes compensation for rotations in Earth's magnetic field.
 20. The method of claim 16, further comprising enabling simultaneous multiple channel communication, wherein the simultaneous multiple channel communication is enabled by encoding active transmitting channel information in MAX symbols of transmitted magnetic data packets. 